Autonomous vehicles

Autonomous Vehicle: Motion Planning & Electronics

ROS 2 path planning and electronics integration for an autonomous vehicle developed with perception and hardware teams.

Category
Autonomous vehicles
Role
Led the path/motion-planning and electronics-integration group over two senior-design semesters.
Technologies
ROSROS2Nav2GazeboArduPilotCube OrangeArduino
System architecture diagram for sensor, controller, and hardware layers of the autonomous vehicleAutonomous vehicle platform used for motion planning and electronics integration

Context

The project was developed with two other teams responsible for complementary perception and hardware work. The software group had a limited budget and needed to migrate substantial work from ROS 1 to ROS 2 as project requirements changed.

Architecture

The vehicle architecture was organized into sensor, controller, and hardware layers. GPS, LiDAR, camera, ROS 2, Nav2, Gazebo, ArduPilot, Cube Orange, and Arduino-based electronics were coordinated to support autonomous traversal and motor control.

Contribution

I led the path-planning track, helped integrate electronics, and maintained simulation and vehicle-control work so the platform could progress toward IGVC-style navigation goals.